Devices, systems, and methods using mating catheter tips and tools

ABSTRACT

A medical instrument system comprises an imaging probe including a distal tip terminating at a first distal end of the imaging probe and a lens disposed at the first distal end. The imaging probe including a first sealing feature on an external surface of the imaging probe. The medical instrument also comprises an elongated medical instrument including a distal portion terminating at a second distal end and including a working channel configured to slidably receive the imaging probe. The working channel including a second sealing feature on a surface of the working channel. The first sealing feature and the second sealing feature are shaped and configured to contact one another to prevent the passage of fluid between the first and second sealing features.

RELATED APPLICATIONS

This application is the U.S. national phase of International ApplicationNo. PCT/US2015/048383, filed Sep. 3, 2015, which designated the U.S. andclaims priority to provisional patent application 62/048,504, filed onSep. 10, 2014, the contents of each of which are incorporated by hereinby reference.

FIELD

The present disclosure is directed to devices, systems, and methods forcleaning a medical instrument, and more particularly to devices,systems, and methods for controlling fluid flow into or out of a medicalinstrument during a minimally invasive procedure.

BACKGROUND

Minimally invasive medical techniques are intended to reduce the amountof tissue that is damaged during medical procedures, thereby reducingpatient recovery time, discomfort, and harmful side effects. Suchminimally invasive techniques may be performed through natural orificesin a patient anatomy or through one or more surgical incisions.Clinicians may insert medical tools through these natural orifices orincisions to reach a target tissue location. Medical tools includeinstruments such as therapeutic instruments, diagnostic instruments, andsurgical instruments. To reach the target tissue location, a minimallyinvasive medical tool may navigate natural or surgically createdpassageways in anatomical systems such as the lungs, the colon, theintestines, the kidneys, the heart, the circulatory system, or the like.

Minimally invasive medical procedures may rely upon visualizationsystems to find a target location and perform various operations.Particularly, a visualization system may help a minimally invasivemedical instrument navigate natural or surgically created passageways inanatomical systems to reach the target tissue location. For example, thevisualization system may help guide the minimally invasive medicalinstrument through natural passageways in the lungs, the colon, theintestines, the kidneys, the heart, the circulatory system, or the like.Some minimally invasive medical instruments may be teleoperated orotherwise computer-assisted. In some instances, the visualization systemcomprises and imaging tool received within an instrument channel orlumen.

During navigation of the medical instrument, or during an operationperformed by the medical instrument, the lens of the visualizationsystem may become obstructed or clouded by patient tissue or fluids.Such obstructions can make navigation or operation more difficult, andvarious methods have been developed to assist the surgeon in clearingthe obstructions off the lens. Some types of medical devices includecleaning systems that utilize a cleaning lumen extending from a proximalend to a distal end of the instrument that terminates in a nozzleextending past the distal end of the instrument. The nozzle isconfigured to deliver cleaning fluid across the lens. In otherinstances, the surgeon may gently brush the distal end of the instrumentacross the patient's tissue to wipe off accumulated liquids. However, itcan be difficult to keep liquid from pooling between the instrumentchannel and the tool (e.g., the imaging tool), which enables the pooledliquid to wick back onto the lens. In addition, it can be difficult toeffectively and efficiently clean the cleaning lumen and nozzle aftercompletion of the medical procedure.

Thus, it is desirable to provide medical devices, systems, and methodsthat enable effective and efficient cleaning of visualization systemsassociated with medical instruments during and after minimally invasivemedical procedures. The devices, systems, and methods disclosed hereinovercome one or more of the deficiencies of the prior art.

SUMMARY

The embodiments of the invention are summarized by the claims thatfollow below.

In one embodiment, a medical instrument system comprises an imagingprobe including a distal tip terminating at a first distal end of theimaging probe and a lens disposed at the first distal end. The imagingprobe includes a first sealing feature on an external surface of theimaging probe. The medical instrument also comprises an elongatedmedical instrument including a distal portion terminating at a seconddistal end and including a working channel configured to slidablyreceive the imaging probe. The working channel includes a second sealingfeature on a surface of the working channel. The first sealing featureand the second sealing feature are shaped and configured to contact oneanother to prevent the passage of fluid between the first and secondsealing features.

In another embodiment, a medical instrument system comprises an imagingprobe including a distal tip terminating at a first distal end of theimaging probe. The distal tip includes a first sealing feature and afluid direction surface. The system also comprises an elongated medicalinstrument having a distal portion terminating at a second distal end.The elongated medical instrument including a working channel and asecond sealing feature on a surface of the working channel. The firstsealing feature and the second sealing feature are shaped and configuredto contact one another to prevent the passage of fluid between the firstand second sealing features. The first and second sealing features arein contact, a gap is formed between the fluid direction surface and thesecond distal end of the medical instrument to direct passage of fluidfrom the working channel across the distal tip of the imaging probe.

In another embodiment, a method comprises positioning an imaging probewithin a working channel of an elongate medical instrument. The imagingprobe includes a distal tip having a first shape and the working channelincludes a distal portion having a second shape. The first shape and thesecond shapes are complementary. The method also includes selectivelysealing a fluid passage between the imaging probe and the medicalinstrument by advancing the distal tip of the imaging probe within thedistal portion of the medical instrument.

BRIEF DESCRIPTIONS OF THE DRAWINGS

Aspects of the present disclosure are best understood from the followingdetailed description when read with the accompanying figures. It isemphasized that, in accordance with the standard practice in theindustry, various features are not drawn to scale. In fact, thedimensions of the various features may be arbitrarily increased orreduced for clarity of discussion. In addition, the present disclosuremay repeat reference numerals and/or letters in the various examples.This repetition is for the purpose of simplicity and clarity and doesnot in itself dictate a relationship between the various embodimentsand/or configurations discussed.

FIG. 1 is a diagram showing an illustrative teleoperational medicalsystem according to one embodiment of the present disclosure.

FIG. 2 is a diagram showing an illustrative medical instrument systemcomprising an endoscopic visualization system according to oneembodiment of the present disclosure.

FIG. 3A is a side, cross-sectional view of the distal portion of anexemplary medical instrument system including an exemplary toolpositioned within an exemplary medical instrument according to oneembodiment of the present disclosure.

FIG. 3B is a perspective view of the distal portion of an exemplarymedical instrument system including an exemplary imaging probepositioned within an exemplary catheter according to one embodiment ofthe present disclosure.

FIG. 4 is a perspective view of the distal portion of the exemplarycatheter shown in FIG. 3B according to one embodiment of the presentdisclosure.

FIG. 5 is a perspective view of the distal portion of the exemplaryimaging probe shown in FIG. 3B according to one embodiment of thepresent disclosure.

FIG. 6 is a perspective, cutaway view of the medical instrument systemshown in FIG. 3B according to one embodiment of the present disclosure.

FIG. 7 is a front view of the medical instrument system shown in FIG. 3Baccording to one embodiment of the present disclosure.

FIG. 8 is a perspective view of an exemplary imaging probe according toone embodiment of the present disclosure.

FIG. 9 is a perspective cutaway view of the imaging probe shown in FIG.8 according to one embodiment of the present disclosure.

FIG. 10 is a perspective view of an exemplary distal tip of an imagingprobe including an exemplary interlocking feature according to oneembodiment of the present disclosure.

FIG. 11 is a perspective, cutaway view of an exemplary catheter bodyincluding an exemplary interlocking feature according to one embodimentof the present disclosure.

FIG. 12 is a perspective view of an exemplary medical instrument systemincluding an exemplary imaging probe positioned within an exemplarymedical instrument according to one embodiment of the presentdisclosure.

FIG. 13 is a perspective view of an exemplary distal portion of themedical instrument shown in FIG. 12 according to one embodiment of thepresent disclosure.

FIG. 14 is a perspective view of an exemplary distal portion of theimaging probe shown in FIG. 12 according to one embodiment of thepresent disclosure.

FIG. 15 is a cutaway side view of the imaging probe positioned withinthe medical instrument of the medical instrument system shown in FIG. 12according to one embodiment of the present disclosure.

FIG. 16 is a perspective view of an exemplary medical instrument systemincluding an exemplary imaging probe positioned within an exemplarymedical instrument and exemplary interlocking features according to oneembodiment of the present disclosure.

FIG. 17 is a perspective view of an exemplary distal portion of theimaging probe shown in FIG. 16 according to one embodiment of thepresent disclosure.

FIG. 18 is a perspective view of an exemplary distal portion of themedical instrument shown in FIG. 16 according to one embodiment of thepresent disclosure.

FIG. 19 is a cutaway side view of the imaging probe positioned withinthe medical instrument of the medical instrument system shown in FIG. 16according to one embodiment of the present disclosure.

DETAILED DESCRIPTION

For the purposes of promoting an understanding of the principles of thepresent disclosure, reference will now be made to the embodimentsillustrated in the drawings, and specific language will be used todescribe the same. It will nevertheless be understood that no limitationof the scope of the disclosure is intended. In the following detaileddescription of the aspects of the invention, numerous specific detailsare set forth in order to provide a thorough understanding of thedisclosed embodiments. However, it will be obvious to one skilled in theart that the embodiments of this disclosure may be practiced withoutthese specific details. In other instances well known methods,procedures, components, and circuits have not been described in detailso as not to unnecessarily obscure aspects of the embodiments of theinvention.

Any alterations and further modifications to the described devices,instruments, methods, and any further application of the principles ofthe present disclosure are fully contemplated as would normally occur toone skilled in the art to which the disclosure relates. In particular,it is fully contemplated that the features, components, and/or stepsdescribed with respect to one embodiment may be combined with thefeatures, components, and/or steps described with respect to otherembodiments of the present disclosure. In addition, dimensions providedherein are for specific examples and it is contemplated that differentsizes, dimensions, and/or ratios may be utilized to implement theconcepts of the present disclosure. To avoid needless descriptiverepetition, one or more components or actions described in accordancewith one illustrative embodiment can be used or omitted as applicablefrom other illustrative embodiments. For the sake of brevity, thenumerous iterations of these combinations will not be describedseparately. For simplicity, in some instances the same reference numbersare used throughout the drawings to refer to the same or like parts.

The embodiments below will describe various instruments and portions ofinstruments in terms of their state in three-dimensional space. As usedherein, the term “position” refers to the location of an object or aportion of an object in a three-dimensional space (e.g., three degreesof translational freedom along Cartesian X, Y, Z coordinates). As usedherein, the term “orientation” refers to the rotational placement of anobject or a portion of an object (three degrees of rotationalfreedom—e.g., roll, pitch, and yaw). As used herein, the term “pose”refers to the position of an object or a portion of an object in atleast one degree of translational freedom and to the orientation of thatobject or portion of the object in at least one degree of rotationalfreedom (up to six total degrees of freedom). As used herein, the term“shape” refers to a set of poses, positions, or orientations measuredalong an object.

It will be appreciated that the terms “proximal” and “distal” are usedherein with reference to a clinician manipulating an end of aninstrument extending from the clinician to a surgical site. The term“proximal” refers to the portion of the instrument closer to theclinician, and the term “distal” refers to the portion of the instrumentfurther away from the clinician and closer to the surgical site. Forconciseness and clarity, spatial terms such as “horizontal,” “vertical,”“above,” and “below” may be used herein with respect to the drawings.However, surgical instruments are used in many orientations andpositions, and there terms are not intended to be limiting and absolute.

The present disclosure relates generally to using devices and systemsthat provide mating surfaces between a working channel tip within ahollow medical instrument and a tool tip to enhance the performance andmaintenance of teleoperational medical systems and/or instruments usedin a variety of medical procedures, including without limitationdiagnostic, surgical, and/or therapeutic procedures. Several differentembodiments of mating instrument channels and tool tips are described.The tools may comprise any of a variety of tools, including, withoutlimitation, imaging devices and biopsy instruments. In some embodiments,the mating tips are configured to partially or completely seal togetherto prevent fluid from pooling between the working channel and the tool.In some embodiments, the mating tips are configured to provide a gapbetween the medical instrument and the tool that allows the passage ofcleaning fluid to the distal tip of the tool. Such embodiments mayenhance the ease and efficiency of cleaning the system after use byeliminating the need to use an instrument having a conventional flushinglumen, which may include a small internal diameter and be difficult toclean. In some embodiments, the mating surfaces are similarly angled ortapered to provide the seal preventing fluid from pooling between theworking channel and the tool without allowing for the passage ofcleaning fluid between the medical instrument and the tool. Someembodiments include features configured to repel the liquid from thesurface of an imaging tool such as, by way of non-limiting example, araised lens surface or a hydrophobic lens coating. In some embodiments,the mating surfaces include a keying feature to enhance the interlockingbetween the medical instrument and the tool and to minimize rotation ofthe tool tip relative to the tip of the medical instrument. In someembodiments, the tapered instrument tip provides a mating surface for abiopsy sheath and needle, and the mating surface may function toincrease biopsy accuracy by preventing the needle from deflecting froman intended trajectory toward the target tissue when inserting theneedle through tissue.

Those of skill in the art will realize that the devices, systems, andmethods described herein may be utilized in similar (e.g.,non-teleoperational) applications benefiting from more effective andefficient cleaning of visualization systems during and after medicalprocedures. By utilizing the devices, systems, and methods describedherein, a user may experience more effective and more efficientinteraction with the imaging instruments and/or visualization systems ofa medical system.

According to various embodiments, medical procedures, such as biopsyprocedures, may be performed using a teleoperational system to guideinstrument delivery. Referring to FIG. 1 of the drawings, ateleoperational medical system for use in, for example, medicalprocedures including diagnostic, therapeutic, or surgical procedures, isgenerally indicated by the reference numeral 100. As will be described,the teleoperational medical systems of this disclosure are under theteleoperational control of a surgeon. In alternative embodiments, ateleoperational medical system may be under the partial control of acomputer programmed to perform the procedure or sub-procedure. In stillother alternative embodiments, a fully automated medical system, underthe full control of a computer programmed to perform the procedure orsub-procedure, may be used to perform procedures or sub-procedures. Asshown in FIG. 1, the teleoperational medical system 100 generallyincludes a teleoperational assembly 102 mounted to or near an operatingtable O on which a patient P is positioned. A medical instrument system104 is operably coupled to the teleoperational assembly 102. An operatorinput system 106 allows a surgeon or other type of clinician S to viewimages of or representing the surgical site and to control the operationof the medical instrument system 104. The operator input system 106 maybe referred to as a master or surgeon's console.

The operator input system 106 may be located at a surgeon's console,which is usually located in the same room as operating table O. Itshould be understood, however, that the surgeon S can be located in adifferent room or a completely different building from the patient P.Operator input system 106 generally includes one or more controldevice(s) for controlling the medical instrument system 104. Morespecifically, in response to the surgeon's input commands, the controlsystem 112 effects servomechanical movement of medical instrument system104. The control device(s) may include one or more of any number of avariety of input devices, such as hand grips, joysticks, trackballs,data gloves, trigger-guns, hand-operated controllers, voice recognitiondevices, touch screens, body motion or presence sensors, and the like.In some embodiments, the control device(s) will be provided with thesame degrees of freedom as the medical instruments of theteleoperational assembly to provide the surgeon with telepresence, theperception that the control device(s) are integral with the instrumentsso that the surgeon has a strong sense of directly controllinginstruments as if present at the surgical site. In other embodiments,the control device(s) may have more or fewer degrees of freedom than theassociated medical instruments and still provide the surgeon withtelepresence. In some embodiments, the control device(s) are manualinput devices which move with six degrees of freedom, and which may alsoinclude an actuatable handle for actuating instruments (for example, forclosing grasping jaws, applying an electrical potential to an electrode,delivering a medicinal treatment, and the like).

The teleoperational assembly 102 supports the medical instrument system104 and may include a kinematic structure of one or more non-servocontrolled links (e.g., one or more links that may be manuallypositioned and locked in place, generally referred to as a set-upstructure) and a teleoperational manipulator. The teleoperationalassembly 102 includes plurality of motors that drive inputs on themedical instrument system 104. These motors move in response to commandsfrom the control system (e.g., control system 112). The motors includedrive systems which when coupled to the medical instrument system 104may advance the medical instrument into a naturally or surgicallycreated anatomical orifice. Other motorized drive systems may move thedistal end of the medical instrument in multiple degrees of freedom,which may include three degrees of linear motion (e.g., linear motionalong the X, Y, Z Cartesian axes) and in three degrees of rotationalmotion (e.g., rotation about the X, Y, Z Cartesian axes). Additionally,the motors can be used to actuate an articulable end effector of theinstrument for grasping tissue in the jaws of a biopsy device or thelike.

The teleoperational medical system 100 also includes an image capturesystem 108 with one or more sub-systems for capturing images from thesurgical workspace at the distal end of the medical instrument system104. The system operator sees images, captured by an image capturesystem 108, presented for viewing on a display system 110 operativelycoupled to or incorporated into the operator input system 106. Thedisplay system 110 displays an image or representation of the surgicalsite and medical instrument system(s) 104 as generated by sub-systems ofthe image capture system 108. The display system 110 and the operatorinput system 106 may be oriented so the operator can control the medicalinstrument system 104 and the operator input system 106 with theperception of telepresence. The display system 110 may include multipledisplays such as separate right and left displays for presentingseparate images to each eye of the operator, thus allowing the operatorto view stereo images.

In some embodiments, as shown in FIG. 1, the teleoperational medicalsystem 100 also includes a fluid management system 109 for delivering orevacuating fluid through the medical instrument system 104. For example,the fluid management system 109 may include a fluid delivery system fordelivering air, carbon dioxide, or saline through the instrument toclean the distal end of the instrument. The fluid management system 109may also include a suction system to remove fluid and debris from thepatient workspace. In other embodiments, the teleoperational medicalsystem 100 lacks the fluid management system 109. In variousembodiments, the fluid management system is used to maintain a lowpositive pressure between the catheter and the instrument sufficient toprevent or minimize movement of fluid from the patient anatomy into theworking channel. This low positive pressure may be applied such thatlittle or no fluid from the fluid management system is delivered intothe patient anatomy.

Alternatively or additionally, the display system 110 may present imagesof the surgical site (and/or anatomical site) recorded and/or imagedpreoperatively or intra-operatively using imaging technology such ascomputerized tomography (CT), magnetic resonance imaging (MRI),fluoroscopy, thermography, ultrasound, optical coherence tomography(OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-rayimaging, and the like. The presented preoperative or intra-operativeimages may include two-dimensional, three-dimensional, orfour-dimensional (including e.g., time based or velocity basedinformation) images and associated image data sets for reproducing theimages.

The teleoperational medical system 100 also includes a control system112. The control system 112 includes at least one memory and at leastone processor (not shown), and typically a plurality of processors, foreffecting control between the medical instrument system 104, theoperator input system 106, the image capture system 108, and the displaysystem 110. The control system 112 also includes programmed instructions(e.g., a computer-readable medium storing the instructions) to implementsome or all of the methods described in accordance with aspectsdisclosed herein. While control system 112 is shown as a single block inthe simplified schematic of FIG. 1, the system may include two or moredata processing circuits with one portion of the processing optionallybeing performed on or adjacent the teleoperational assembly 102, anotherportion of the processing being performed at the operator input system106, and the like. Any of a wide variety of centralized or distributeddata processing architectures may be employed. Similarly, the programmedinstructions may be implemented as a number of separate programs orsubroutines, or they may be integrated into a number of other aspects ofthe teleoperational systems described herein. In one embodiment, controlsystem 112 supports wireless communication protocols such as Bluetooth,IrDA, HomeRF, IEEE 802.11, DECT, and Wireless Telemetry.

In some embodiments, the control system 112 may include one or moreservo controllers that receive force and/or torque feedback from themedical instrument system 104. Responsive to the feedback, the servocontrollers transmit signals to the operator input system 106. The servocontroller(s) may also transmit signals instructing teleoperationalassembly 102 to move the medical instrument system(s) 104 which extendinto an internal surgical site within the patient body via openings inthe body. Any suitable conventional or specialized servo controller maybe used. A servo controller may be separate from, or integrated with,teleoperational assembly 102. In some embodiments, the servo controllerand teleoperational assembly are provided as part of a teleoperationalarm cart positioned adjacent to the patient's body.

The teleoperational medical system 100 may further include optionaloperation and support systems (not shown) such as illumination systems,steering control systems, irrigation systems, and/or suction systems. Inalternative embodiments, the teleoperational system may include morethan one teleoperational assembly and/or more than one operator inputsystem. The exact number of manipulator assemblies will depend on thesurgical procedure and the space constraints within the operating room,among other factors. The operator input systems may be collocated, orthey may be positioned in separate locations. Multiple operator inputsystems allow more than one operator to control one or more manipulatorassemblies in various combinations.

FIG. 2 illustrates a medical instrument system 200, which may be used asthe medical instrument system 104 of teleoperational medical system 100for insertion into a patient's body at either a natural orifice or asurgically created orifice. Alternatively, the medical instrument system200 may be used for non-teleoperational exploratory procedures or inprocedures involving traditional manually operated medical instruments,such as endoscopy.

The instrument system 200 includes a catheter system 202 coupled to aninstrument body 204. The catheter system 202 includes an elongatedflexible catheter body 216 having a proximal end 217 and a distal end ortip portion 218. The flexible body 216 has a working channel 219 with adiameter D1. The working channel or tool channel 219 may be sized toreceive an instrument or tool and/or to direct fluid through theflexible body. In one embodiment, the flexible body 216 has anapproximately 3 mm outer diameter. Other flexible body outer diametersmay be larger or smaller. In one embodiment, the flexible body 216 hasan approximately 2 mm inner diameter (i.e., the working channel 219 hasan inner diameter D1 of approximately 2 mm). Other tool channel innerdiameters may be larger or smaller. The entire length of the body 216,between the distal end 218 and the proximal end 217, may be effectivelydivided into the segments 224.

The medical instrument system may optionally include a position sensorsystem 220. The position sensor system 220 may be a component of an EMsensor system with the sensor 220 including one or more conductive coilsthat may be subjected to an externally generated electromagnetic field.

The catheter system 202 may optionally include a shape sensor 222 fordetermining the position, orientation, speed, velocity, pose, and/orshape of the catheter tip at distal end 218 and/or of one or moresegments 224 along the body 216. The shape sensor 222 may include anoptical fiber aligned with the flexible catheter body 216 (e.g.,provided within an interior channel (not shown) or mounted externally).In one embodiment, the optical fiber has a diameter of approximately 200μm. In other embodiments, the dimensions may be larger or smaller. Theoptical fiber of the shape sensor system 222 forms a fiber optic bendsensor for determining the shape of the catheter system 202.

The flexible catheter body 216 includes one or more working channelssized and shaped to receive an auxiliary instrument 226 (not shown). Forexample, in some embodiments, the auxiliary instrument 226 may bereceived within the working channel 219. Auxiliary instruments mayinclude, for example, image capture probes, biopsy instruments, laserablation fibers, or other surgical, diagnostic, or therapeutic tools.Auxiliary tools may include end effectors having a single working membersuch as a scalpel, a blunt blade, an optical fiber, or an electrode.Other end effectors may include, for example, forceps, graspers,scissors, or clip appliers. Examples of electrically activated endeffectors include electrosurgical electrodes, transducers, sensors, andthe like.

In various embodiments, the auxiliary tool 226 may be an image captureprobe (e.g., an imaging probe 300 described below with reference to FIG.3B), such as an endoscope, that includes a distal portion with astereoscopic or monoscopic camera at or near the distal end 218 of theflexible catheter body 216 for capturing images (including video images)that are processed by the image capture system 108 for display. Theimage capture probe may include a cable coupled to the camera fortransmitting the captured image data. Alternatively, the image captureinstrument may be a fiber-optic bundle, such as a fiberscope, thatcouples to the image capture system 108. The image capture instrumentmay be single or multi-spectral, for example capturing image data in oneor more of the visible, infrared, or ultraviolet spectrums.

The auxiliary instrument 226 may house cables, linkages, or otheractuation controls (not shown) that extend between the proximal anddistal ends of the instrument to controllably bend the distal end of theinstrument. Steerable instruments are described in detail in U.S. Pat.No. 7,316,681 (filed on Oct. 4, 2005) (disclosing “Articulated SurgicalInstrument for Performing Minimally Invasive Surgery with EnhancedDexterity and Sensitivity”) and U.S. patent application Ser. No.12/286,644 (filed Sep. 30, 2008) (disclosing “Passive Preload andCapstan Drive for Surgical Instruments”), which are incorporated byreference herein in their entireties.

The flexible catheter body 216 may also houses cables, linkages, orother steering controls (not shown) that extend between the housing 204and the distal end 218 to controllably bend the distal end 218 as shown,for example, by the broken dashed line depictions of the distal end.Steerable catheters are described in detail in U.S. patent applicationSer. No. 13/274,208 (filed Oct. 14, 2011) (disclosing “Catheter withRemovable Vision Probe”), which is incorporated by reference herein inits entirety. In embodiments in which the instrument system 200 isactuated by a teleoperational assembly, the housing 204 may includedrive inputs that removably couple to and receive power from motorizeddrive elements of the teleoperational assembly. In embodiments in whichthe instrument system 200 is manually operated, the housing 204 mayinclude gripping features, manual actuators, or other components formanually controlling the motion of the instrument system. The cathetersystem may be steerable or, alternatively, the system may benon-steerable with no integrated mechanism for operator control of theinstrument bending. Also or alternatively, one or more lumens, throughwhich medical instruments can be deployed and used at a target surgicallocation, are defined in the walls of the flexible body 216.

In various embodiments, the medical instrument system 200 may include aflexible bronchial instrument, such as a bronchoscope or bronchialcatheter, for use in examination, diagnosis, biopsy, or treatment of alung. The system 200 is also suited for navigation and treatment ofother tissues, via natural or surgically created connected passageways,in any of a variety of anatomical systems, including the colon, theintestines, the kidneys, the brain, the heart, the circulatory system,and the like. In various embodiments, the medical instrument may includea rigid cannula (e.g. a rigid endoscope) rather than a flexiblecatheter.

In the embodiment of FIG. 2, the medical instrument system 200 isteleoperated within the teleoperational medical system 100. In analternative embodiment, the teleoperational assembly 102 may be replacedby direct operator control. In the direct operation alternative, varioushandles and operator interfaces may be included for hand-held operationof the instrument.

To operate properly, the distal end of the catheter system 202 or othercatheter instruments, bronchoscopes, or endoscopes should ideally remainfree of obstructions or be frequently cleared of obstructions duringuse. The accumulation of patient fluids (e.g., mucous or blood), tissue,or cautery smoke on a lens of an imaging probe or at the opening of theworking channel 219 may prevent the safe and time efficient nature ofprocedures using such instruments. Some cleaning methods involveinjecting a fluid (e.g., gas or saline) through a dedicated cleaninglumen into nozzle aimed at the lens, swiping the distal end 218 of thecatheter system 202 against patient tissue to remove debris, or removingthe instrument (e.g., the auxiliary instrument 226 and/or the catheterbody 216) from the patient and physically wiping the distal end free ofdebris. All of these procedures present various disadvantages, includingthe loss of time and ineffective clearing of debris, which can affectboth patient safety and cost effectiveness. As mentioned above, it canbe difficult to keep patient fluids, cleaning fluids, or the like fromentering between the instrument channel and the tool (e.g., the imagingtool) when using the swiping method. The fluids may then pool within theinstrument channel and later wick back onto the lens. In addition, itcan be difficult to effectively and efficiently clean the cleaning lumenand nozzle after completion of the medical procedure. Moreover, the useof an injected fluid emerging from a nozzle extending past the distalend of the instrument to clean the distal end may be inadvisable insituations in which the instrument is inserted into a patient lumen(e.g., an airway passage of the lungs) and the outside diameter of theinstrument tip completely or substantially fills the inside diameter ofthe patient lumen, sealing off the anatomical region distal of theinstrument tip. Fluid injected to clean the instrument tip may cause thesealed off portion of the anatomical region to overinflate and rupturethe surrounding tissue. For example, if the instrument is a bronchoscopein use in a lung, the region of the lung isolated by the impactedinstrument may experience a rupturing of the lung wall or pleura,resulting in pneumothorax. According to devices, systems, and methodsdescribed herein, a mating configuration between the catheter body 216and the auxiliary instrument 226 allows for more effective and efficientuse and cleaning of the catheter system 202.

FIG. 3A is a side, cross-sectional view of an exemplary medicalinstrument system 250 including an exemplary tool 255 positioned withinan exemplary medical instrument 260 according to one embodiment of thepresent disclosure. The medical instrument 260 may be the same as thecatheter system 202 shown in FIG. 2. In the pictured embodiment, themedical instrument 260 is shown as an elongated tube. In otherembodiments, the medical instrument 260 may comprise any of a variety ofmedical instruments, including, without limitation, an endoscope, abronchoscope, a flexible catheter, and a rigid delivery instrument.According to the present example shown in FIG. 3A, the medicalinstrument 260 comprises a working channel 265 through which the tool255 extends.

In the pictured embodiment, a distal end 270 of the tool 255 issubstantially co-planar with a distal end 275 of the medical instrument260 when the tool 255 is advanced fully within the medical instrument260. In other embodiments, the distal end 270 of the tool 255 may bepositioned slightly proximal to or slightly distal to the distal end 275of the medical instrument 260 when the tool 255 is advanced fully withinthe medical instrument 260.

The medical instrument system 250 includes sealing features 280, 285shaped and configured to selectively seal the space between the distalends 270, 275 of the tool 255 and the medical instrument 260,respectively. As shown in FIG. 3A, the tool 255 is shaped and configuredto be slidably received within the working channel 265 of the medicalinstrument 260. In the pictured embodiment, the working channel 265includes the sealing feature 280, and the tool includes the sealingfeature 285. The sealing features 280, 285 are shaped as complementaryelements that mate together to prevent or minimize the passage of fluidfrom the distal ends 270, 275 into the working channel 265. In thepictured embodiment, the sealing features 280, 285 are shaped as lips,chamfered surfaces, or bevels. In other embodiments, the sealingfeatures 280, 285 may comprise any of a variety of elements shaped andconfigured to interact or mate to selectively seal the space or gapbetween the distal ends 270, 275 of the tool 255 and the medicalinstrument 260, respectively. In some embodiments, the sealing features280, 285 comprise mating three-dimensional protrusions and indentations,textured surfaces, or tapered surfaces.

The sealing feature 285 of the tool 255 is shaped to complement or matewith at least a portion of the sealing feature 580 of the instrument260. In that regard, the sealing features 280, 285 may extendcircumferentially 360 degrees around an inner surface 290 of the workingchannel 265 and the tool 255, respectively. In other embodiments, thesealing features 280, 285 may extend less than 360 degreescircumferentially around an inner surface 290 of the working channel 265and the tool 255, respectively, thereby permitting the passage of fluidin an area where the sealing features do not mate. In some instances,when the tool 255 is fully advanced through the working channel 265, thesealing features 280 and 285 mate or contact one another to preventfluid from pooling between the tool 255 and the working channel 265(e.g., preventing the backflow of fluid, including both fluid emergingfrom the working channel 265 and fluid originating from the patientwhen, by way of non-limiting example, the user wipes the distal end 275of the instrument 260 against patient tissue).

In some embodiments, the sealing features 280, 285 also act asinterlocking features that cooperate or mate to align and position thetool 255 in the center of the working channel 265 and/or flush with thedistal end 275 of the instrument 260. In some embodiments, the sealingfeatures 280, 285 include additional interlocking features such asprojections or indentations that cooperate or mate to align and positionthe tool 255 in the center of the working channel 265 and flush with thedistal end 275 of the instrument 260. Other embodiments may include anyof a variety of sealing features 280, 285 that are shaped and configuredto contact one another to at least partially prevent fluid from passingbetween the working channel 265 and the tool 255 (e.g., in the area ofcontact).

FIG. 3B is a perspective view of an exemplary medical instrument system305 including the exemplary imaging probe 300 positioned within anexemplary medical instrument 310 according to one embodiment of thepresent disclosure. FIG. 4 is a perspective view of a distal portion 312of the medical instrument 310 shown in FIG. 3B according to oneembodiment of the present disclosure. FIG. 5 is a perspective view of adistal portion 314 of the imaging probe 300 shown in FIG. 3B accordingto one embodiment of the present disclosure.

The medical instrument 310 may be the same as the catheter system 202shown in FIG. 2. In the pictured embodiment, the medical instrument 310is shown as a flexible, elongated catheter. In other embodiments, themedical instrument 310 may comprise any of a variety of elongatedmedical instruments, including, without limitation, an endoscope, abronchoscope, a flexible catheter, and a rigid delivery instrument.According to the present example shown in FIGS. 3B and 4, the medicalinstrument 310 comprises a catheter body 315 including a working channel320 through which the elongated imaging probe 300 extends. In thepictured embodiment, the working channel 320 comprises a hollow, tubularspace formed within the catheter body 315 of the instrument 310. Theworking channel 320 includes a distal inner diameter D2. In oneembodiment, the distal inner diameter D2 measures approximately 2 mm.Other distal inner diameters D2 may be larger or smaller. In thepictured embodiment, the medical instrument 310 includes a tapereddistal section 321 that terminates at the distal end 325 of the catheterbody 315. In other embodiments, the distal section 321 is not tapered.In some embodiments, the distal section 321 is formed of radiopaquematerial, which may assist the user to visualize and guide thenavigation of the distal section 321 of the catheter body 315 as themedical instrument 310 is moved through the patient's body. In someembodiments, the tapered distal section 321 is formed of a metal.

In the pictured embodiment, the imaging probe 300 includes two separateillumination elements 323. The illumination elements 323 may compriseillumination fibers configured to illuminate the patient tissue past adistal end 326 of the imaging probe 300 (e.g., that is being imaged bythe imaging probe 300). Although the pictured embodiment includes 2illumination elements 323, other embodiments may include any number ofillumination elements or may lack illumination elements altogether.

The imaging probe 300 includes an imaging surface or lens 330. Invarious embodiments, the lens 330 may comprise a substantially flatimaging surface or a curved imaging surface. In various embodiments, thelens 330 may be substantially co-planar with the distal end 326 of theimaging probe 300 or slightly raised from the distal end 326 of theimaging probe 300. For example, in some embodiments, the lens 330 canprotrude distally past the remainder of the distal end 326 of theimaging probe 300.

In some embodiments, the medical instrument system 305 includes asealing feature shaped and configured to selectively seal the spacebetween the distal ends of the imaging probe 300 and the medicalinstrument 310. As shown in FIGS. 3B and 5, the imaging probe 300 isshaped and configured to be slidably received within the working channel320 of the medical instrument 310. As shown in FIGS. 4 and 6, in thepictured embodiment, the working channel 320 includes a sealing feature332 shaped as an internal lip, chamfer, or bevel at the distal end 325of the catheter body 315. The sealing feature 332 extendscircumferentially 360 degrees around the inner surface 510 of thecatheter body 315. As shown in FIGS. 5 and 6, the distal end 326 of theimaging probe 300 includes a matching or complementary sealing feature334 shaped as an external bevel. The bevel 334 may extendcircumferentially 360° around the distal end 326 or, as shown in FIG. 5,may extend circumferentially less than 360° between circumferential ends345 and 346. The sealing feature 334 of the imaging probe 300 is shapedto complement or mate with at least a portion of the sealing feature 332of the catheter body 315. In some instances, when the imaging probe 300is fully advanced through the working channel 320, the sealing features332 and 334 mate or contact one another to prevent fluid from poolingbetween the imaging probe 300 and the working channel 320 (e.g.,preventing the backflow of fluid, including both fluid emerging from theworking channel 320 and fluid originating from the patient, from theregion of the lens 330 into the distal section 321 of the catheter body315 when, by way of non-limiting example, the user wipes the distal end325 of the catheter body against patient tissue). Additionally, a lowpositive pressure may be applied to the working channel between thecatheter and the imaging probe to further prevent the inflow of fluidoriginating from the patient anatomy.

In some embodiments, the sealing features 332 and 334 also act asinterlocking features that cooperate or mate to align and position theimaging probe 300 in the center of the working channel 320 and flushwith the distal end 325 of the catheter body 315. In some embodiments,the sealing features 332 and 334 include additional interlockingfeatures such as projections or indentations that cooperate or mate toalign and position the imaging probe 300 in the center of the workingchannel 320 and flush with the distal end 325 of the catheter body 315.Other embodiments may include any of a variety of sealing features 332,334 that are shaped and configured to contact one another to at leastpartially prevent fluid from passing between the working channel 320 andthe imaging probe 300 (e.g., in the area of contact). Some embodimentsmay lack an internal and external bevel. For example, some embodimentsmay include sealing features comprising similarly tapered, complementarysurfaces shaped and configured to contact one another along a portion ofthe working channel and the imaging probe (e.g., a tapered internalsurface of the working channel and a tapered external surface of theimaging probe). Such embodiments are discussed in further detail belowwith reference to FIGS. 12-15.

In the pictured embodiment, the distal inner diameter D2 of the workingchannel 320 is sized to halt the distal progression of the distal end326 of the imaging probe 300 past the distal end 325 of the catheterbody 315. Thus, the distal end 326 of the imaging probe 300 does notextend beyond the distal end 325 of the catheter body 315. Thisconfiguration allows the user to wipe off accumulated fluid and otherdebris by, for example, wiping the end of the medical instrument 310against the patient's tissues without unduly damaging patient tissues oraccumulating pooled fluid between the imaging probe 300 and the workingchannel 320.

In other embodiments, a portion of the lens 330 of the imaging probe 300may extend past the distal end 325 of the catheter body 315. Such aconfiguration may attract greater flow of cleaning fluid across the lens330 as it emerges from the working channel 320, as described in moredetail below with reference to FIG. 6.

As shown in FIG. 5, the lens 330 may have an obstruction 335 thereon.The obstruction 335 may include a cloudy substance or an object thatobstructs vision through the visualization system. For example, patienttissue or patient fluids, such as blood or mucus, may stick to thesurface of the lens 330 and cloud the surface of the lens 330. Theobstruction 335 on the lens 330 may be visible in images received by theimaging probe 300 and displayed to the user.

In some cases, as shown in FIG. 5, the surface of the lens 330 may becoated with a hydrophobic coating 340. A hydrophobic coating reduces thedegree to which liquid substances adhere to the surface of the lens 330.A liquid substance (e.g., the obstruction 335) on the hydrophobic lenscoating or surface 340 may be more likely to form round beads 335 a,which creates more surface area for the drag force. Specifically, fluidbeing projected parallel to the surface 340 will catch more of thebeaded obstruction and more effectively move or dislodge theobstructions 335, 335 a. Thus, removing obstructions from the surface ofthe lens 330 may be made more efficient by applying a hydrophobiccoating 340 to the surface of the lens 330.

FIG. 6 is a perspective, cutaway view of the medical instrument system305 shown in FIG. 3B, showing the imaging probe 300 positioned withinthe working channel 320 of the catheter body 315. As best shown in FIG.6, the medical instrument system 305 provides a means of cleaning theimaging probe 300 by allowing a stream of cleaning fluid to flow fromthe working channel 320 across the lens 330 of the imaging probe 300. Inparticular, as shown in FIGS. 4-6, the imaging probe 300 includes adistal tip 500 having a sloped nozzle portion 505. The sloped nozzleportion extends between circumferential ends 345, 346. The distal tip500 may be formed of metal or another substantially firm material, suchas glass, a clear plastic, or an opaque plastic. Instead of having auniformly circular profile and a uniform outer diameter D3 (FIG. 5) atthe distal tip 500, the distal tip 500 has a notched or indented profileand the outer diameter D3 decreases at the sloped nozzle portion 505. Asshown in FIG. 6, the outer diameter D3 of the distal tip 500 decreasesgradually from an outer diameter D4 proximal to the sloped nozzleportion 505 to an outer diameter D5 distal to the sloped nozzle portion505.

The sloped nozzle portion is angled downwards by an angle α. In thepictured embodiment, the angle α measures approximately 60°. In otherembodiments, the angle α may be greater or smaller than 60°. The shapeor contour of the nozzle portion 505 and the angle α may be optimized tominimize the destruction of fluid flow across the nozzle portion 505 andto maintain the flow as close as possible to an outer surface 507 (e.g.,the distal end 326 and the lens 330) of the imaging probe 300. In thedepicted embodiment the nozzle portion 505 has a curved slope, but inalternative embodiments may have a flat or textured slope. To increasethe coanda effect between a fluid and the surface of the nozzle portion,the surface of the nozzle portion may be textured (e.g., dimpled orcorrugated) to attract the fluid flow across the surface and the lens.

The pictured configuration enables cleaning fluid to flow from theworking channel 320 over the sloped nozzle portion 505 and across thelens 330 to clear the lens 330 of any debris (e.g., the obstruction 335shown in FIG. 5). In some embodiments, the angle α may be configured todirect fluid from the space 508 to flow parallel to the surface of thelens 330. The fluid may be, by way of non-limiting example, saline,carbon dioxide, or air. Fluid may be delivered through a space 508formed between the sloped nozzle portion 505 and the inner surface 510of the catheter body 315. The space 508 (i.e., the gap between the outersurface 507 of the sloped nozzle portion 505 and the working channel320) provides a duct for delivering the cleaning fluid to the lens 330.In some instances, the space 508 measures 0.002 inches between thesloped nozzle portion 505 and the sealing feature 332 of the workingchannel 320. This measurement is provided for exemplary purposes only,and other dimensions are contemplated. The sealing features (or bevels)332 and 334 act to prevent fluid from exiting the working channel 320through areas other than the space 508 formed by the sloped nozzleportion 505. In some embodiments, the fluid management system 109 shownin FIG. 2 may provide short bursts of high-pressure fluid through thespace 508 to clean the lens 330, as described in Prov. U.S. Pat. App.No. 62/037,299 which is incorporated by reference herein. In addition tothe short pulse of high pressure fluid, a low pressure fluid stream maybe used to prevent ingression of fluid from the patient anatomy into theworking channel. The pressure may be constant and sufficiently low tokeep patient fluid out, without significantly burdening the internalanatomic lumen or passageway of the patient. The high pressure, shortpulse would be added to the constant low pressure.

FIG. 7 illustrates a front view of the medical instrument system 305,showing the imaging probe 300 positioned within the working channel 320of the catheter body 315. FIG. 7 more clearly illustrates the space 508formed between the sloped nozzle portion 505 and an inner surface 510 ofthe catheter body 315.

In some embodiments, the imaging probe includes a clear distal tip, asshown in FIGS. 8 and 9. FIG. 8 illustrates a perspective view of anexemplary imaging probe 600 according to one embodiment of the presentdisclosure. FIG. 10 illustrates a perspective, cutaway view of theimaging probe 600 across the line 9-9 shown in FIG. 8 according to oneembodiment of the present disclosure. The imaging probe 600 issubstantially similar to the imaging probe 300 shown in FIGS. 3B-7except for the differences described herein. In particular, FIG. 8illustrates a distal portion 605 of the imaging probe 600 including ashaft portion 608 and a clear distal tip 610 that terminates at a distalend 612. The clear distal tip 610 provides a clear viewing “window” thatentirely surrounds and protects a lens 615 (and illumination fibers 616)of the imaging probe 600 while allowing a clear visualization path (andillumination path) for the imaging probe 600. The clear distal tip 610provides a substantially smooth surface, which may reduce theaccumulation of debris and improve the rinsing of debris from the tip610. The clear distal tip 610 may be formed of any of a variety ofoptically clear materials, including, without limitation, glass andplastic. In some embodiments, the clear distal tip 610 is bondeddirectly to a camera or imaging device 614 of the imaging probe 600. Asshown in FIG. 8, the clear distal tip 610 includes a sloped nozzleportion 620 that is substantially similar to the sloped nozzle portion505 shown in FIGS. 5 and 6. When the imaging probe 600 is used incombination with a medical instrument such as the medical instrument310, the cleaning fluid may be delivered through a space (not shown)formed between the sloped nozzle portion 620 of the clear distal tip 610and an inner surface of the medical instrument (e.g., the inner surface510 of the catheter body 315). In contrast to the embodiment shown inFIG. 6, the imaging probe 600 is configured to direct the cleaning fluidover a distal surface 625 of the clear distal tip 610 instead of thesurface of the lens 615 itself.

In some embodiments, as mentioned above, the medical instrument system305 includes corresponding interlocking features disposed on each of theimaging probe 300 and the medical instrument 310 shaped and configuredto selectively mate or releasably interlock the imaging probe 300 andthe medical instrument 310. For example, as mentioned above in relationto FIG. 3B, in some embodiments, the sealing features 332, 334 can actas interlocking features as well as sealing features. In some instances,a first interlocking feature is disposed on the medical instrument 310,a second interlocking feature is disposed on the imaging probe 300, andthe first interlocking feature and the second interlocking feature areconfigured to mate and releasably interlock the medical instrument 310and the imaging probe 300 in a predetermined arrangement. In someinstances, the interlocking features enable efficient and accuratealignment of the imaging probe 300 within the working channel 320 and,in some instances, to limit the rotation of the imaging probe 300 withinthe working channel 320. FIGS. 10 and 11 illustrate two additionalexamples of interlocking features.

FIG. 10 illustrates an exemplary distal probe tip 700 including aninterlocking feature 705. The distal probe tip 700 may be the same asthe distal tip 500 shown in FIG. 5 except for the addition of theinterlocking feature 705. In the pictured embodiment, the interlockingfeature 705 comprises a hemi-cylindrical protrusion disposed on an outersurface 708 of the distal probe tip 700. The interlocking feature 705may comprise a length of metal wire, polymeric rod, glass fiber, orother suitable rigid or semi-rigid member. The interlocking feature maybe semi-cylindrical in shape as shown in the pictured embodiment or mayinclude any of a variety of other shapes, including, without limitation,elongated flat or curved surfaces. In the pictured embodiment, theinterlocking feature 705 extends along at least a portion of the lengthof the distal probe tip 700. In other embodiments, the interlockingfeature 705 may extend along a portion of a shaft (e.g., the shaft 608shown in FIGS. 8 and 9) of the imaging probe. The interlocking feature705 may be integrally formed with the distal probe tip 700 or may beaffixed to the distal probe tip 700 with adhesive and/or othermechanical coupling. The interlocking feature 705 is configured to matewith a corresponding interlocking feature 710 (not shown) on the innersurface 510 of the working channel 320 (shown in FIG. 6, for example) toproperly align the probe with the medical instrument 310 and, in someinstances, to limit the twisting of the distal probe tip 700 relative tothe medical instrument 310 (at least at the location of the interlockingfeature 705). For example, the interlocking feature 710 may comprise anindentation or channel within the inner surface 510 of the workingchannel 320 having a complementary concave, semi-cylindrical contour tothe interlocking feature 705.

FIG. 11 illustrates a perspective, cutaway view of an exemplary catheterbody 800 including an interlocking feature 805. The catheter body 800may be the same as the catheter body 315 shown in FIG. 4 except for theaddition of the interlocking feature 805. In the pictured embodiment,the interlocking feature 805 comprises a circumferential collar ofindentations or slots 805 having trapezoidal shapes. The interlockingfeature 805 is disposed on an inner surface 808 of a working channel 810of the catheter body 800. The inner surface 808 may correspond to theinner surface 510 of the working channel 320 (shown in FIG. 6, forexample). The interlocking feature 805 may comprise any number andarrangement of slots or indentations having any of a variety of shapesor outlines such as, by way of non-limiting example, curves, waves,crescents, or polygonal. In the pictured embodiment, the interlockingfeature 805 is disposed at a distal portion 810 of the working channel810, adjacent a distal end 815 of the catheter body 800. In otherembodiments, the interlocking feature 805 may be disposed at a moreproximal portion of the catheter body 800. The interlocking feature 805is configured to mate with a corresponding interlocking feature 820 (notshown) on an outer surface of an imaging probe (the outer surface 708 ofthe distal probe tip 700 shown in FIG. 10, for example) to properlyalign the imaging probe and the catheter body 800 and, in someinstances, to limit the twisting of the distal probe tip relative to thecatheter body 800 (at least at the location of the interlocking feature805). For example, the interlocking feature 820 may comprise aprotrusion or collar of protrusions on the outer surface of the imagingprobe, and the protrusions may have a complementary shape or profile tothe shape or profile of the interlocking feature 805. In some instances,a collared or circumferential interlocking feature having a repeatingpattern, such as the interlocking feature 820, allows the user to moreefficiently and easily interlock the imaging probe and the catheterbecause less rotation is necessary to find the interlocking feature orkeying feature.

In some embodiments, the interlocking features, such as, by way ofnon-limiting example, the interlocking features 705, 710 discussed inrelation to FIG. 10 and the interlocking features 805, 820 discussed inrelation to FIG. 11, prevent or minimize liquid from pooling between theworking channel 320 and the imaging probe 300. In some instances, if theuser employs a proximal clamp-like device on the shaft of the imagingprobe with a Touhy valve, friction can prevent the imaging probe 300from rotating with respect to the working channel 320, which may allowfor rotational referencing of the image with respect to models and 3Dspace. If friction is not sufficient to prevent rotation of the imagingtool 300 with respect to the working channel 320, the interlockingfeatures may be configured to provide keying functions in addition tointerlocking functions (e.g., as shown in FIGS. 16-18).

FIGS. 12-15 illustrate different component parts and perspectives of anexemplary medical instrument system 900 that is not configured todeliver cleaning fluid in the manner described above with reference tothe medical instrument system 305 shown in FIG. 3B. FIG. 12 is aperspective view of the exemplary medical instrument system 900including an exemplary imaging probe 905 positioned within an exemplarymedical instrument 910 according to one embodiment of the presentdisclosure. FIG. 13 is a perspective view of a distal portion 912 of themedical instrument 910 shown in FIG. 12 according to one embodiment ofthe present disclosure. FIG. 14 is a perspective view of a distalportion 914 of the imaging probe 905 shown in FIG. 12 according to oneembodiment of the present disclosure. FIG. 15 is a cutaway side view ofthe imaging probe 905 positioned within the medical instrument 910according to one embodiment of the present disclosure. The medicalinstrument 910 is substantially similar to the medical instrument 310described above except for the differences described herein. Similarly,the imaging probe 905 is substantially similar to the imaging probe 300described above except for the differences described herein. Inparticular, the medical instrument 910 and the imaging probe 905 areshaped and size to have mating tapered distal portions configured toprevent fluid from pooling between the medical instrument 910 and theimaging probe 905 (e.g., and thus prevent pooled fluid fromrecontaminating the imaging probe 905). The tapered profiles of thedistal portions of the medical instrument 910 and the imaging probe 905are sealing features shaped and configured to selectively seal the spacebetween the medical instrument 910 and the imaging probe 905.Additionally, a low positive pressure may be applied to the workingchannel between the catheter and imaging probe to further prevent theinflow of fluid from the patient anatomy.

The medical instrument 910 may be the same as the catheter system 202shown in FIG. 2. In some instances, the medical instrument 910 is aflexible, elongated catheter. In other embodiments, the medicalinstrument 910 may comprise any of a variety of elongated medicalinstruments, including, without limitation, an endoscope, abronchoscope, a flexible catheter, and a rigid delivery instrument.According to the present example shown in FIGS. 12 and 13, the medicalinstrument 910 comprises a catheter body 915 including a working channel920 through which the elongated imaging probe 905 extends. In someembodiments, the at least a portion of the catheter body (e.g., a distalportion) is formed of radiopaque material, which may assist the user tovisualize and guide the navigation of the medical instrument 910 throughthe patient's body.

In the pictured embodiment, the working channel 920 comprises a hollow,tubular space formed within the catheter body 915 of the instrument 910.In the pictured embodiment in FIG. 13, the working channel 920 includesa tapered distal section 927 (i.e., having a tapered inner diameter)that terminates at the distal end 925 of the catheter body 915. Theworking channel 920 includes a distal inner diameter D6 at a distal end925 of the catheter body 915. In one embodiment, the distal innerdiameter D6 measures approximately 1.8 mm. Other distal inner diametersD6 may be larger or smaller. For example, inner diameters of 1.5 mm and2.0 mm may be suitable. As shown in best in FIG. 15, the inner diameterof the tapered distal section 927 decreases from a proximal innerdiameter D7 to the distal inner diameter D6. In one embodiment, thedistal inner diameter D7 measures approximately 2.4 mm. Other distalinner diameters D7 may be larger or smaller. For example, innerdiameters of 2.0 mm or 2.5 mm may be suitable.

In some embodiments, the medical instrument system 900 includes a keyingfeature (as described below with reference to FIGS. 16-18) shaped andconfigured to selectively mate or releasably interlock the imaging probe905 and the medical instrument 910.

In the pictured embodiment, the imaging probe 905 includes two separateillumination elements 923. The illumination elements 923 may compriseillumination fibers configured to illuminate the patient tissue past adistal end 926 of the imaging probe 905 (e.g., being imaged by theimaging probe 905). Although the pictured embodiment includes 2illumination elements 923, other embodiments may include any number ofillumination elements or may lack illumination elements altogether.

The imaging probe 905 includes an imaging surface or lens 930. Invarious embodiments, the lens 930 may comprise a substantially flatimaging surface or a curved imaging surface. In various embodiments, thelens 930 may be substantially co-planar with the distal end 926 of theimaging probe 905 or slightly raised from the distal end 926 of theimaging probe 905. For example, in some embodiments, the lens 930 canprotrude distally past the remainder of the distal end 926 of theimaging probe 905. These configurations allow a user to wipe of the lens930 against patient tissue to clear the lens 330 of debris. As mentionedabove in relation to the lens 330, in some instances, the lens 930 maybe coated with a hydrophobic coating 940, as shown in FIG. 14. Removingobstructions from the surface of the lens 930 may be made more efficientby applying a hydrophobic coating 940 to the surface of the lens 930 torepel liquid from the lens 930.

As shown in FIGS. 12, 14, and 15, the imaging probe 905 is shaped andconfigured to be slidably received within the working channel 920 of themedical instrument 910. In the pictured embodiment, the shape and distalinner diameter D6 of the working channel 920 is shaped and sized to haltthe distal progression of the distal end 926 of the imaging probe 905past the distal end 925 of the catheter body 915. Thus, in the picturedembodiment, the distal end 926 of the imaging probe 905 does not extendbeyond the distal end 925 of the catheter body 915. This configurationminimizes damage to patient tissues and allowing the user to wipe offaccumulated fluid and other debris from the lens 930 by, for example,wiping the end of the medical instrument 910 against the patient'stissues. In other embodiments, as mentioned above, a portion of the lens930 of the imaging probe 905 may extend past the distal end 925 of thecatheter body 915.

In the pictured embodiment in FIGS. 14 and 15, the imaging probe 905includes a tapered distal section 945 (i.e., having a tapered outerdiameter) that terminates at the distal end 926 of the imaging probe905. The imaging probe 905 includes a distal outer diameter D8 at adistal end 925 of the imaging probe 905. In one embodiment, the distalouter diameter D8 measures approximately 1.8 mm. Other distal outerdiameters D8 may be larger or smaller. For example, outer diameters of1.5 mm or 2.0 mm may be suitable. In some embodiments, the distal outerdiameter D8 is slightly smaller than the distal inner diameter D6 of theworking channel 920. As shown in best in FIG. 15, the outer diameter ofthe tapered distal section 945 decreases from a proximal outer diameterD9 to the distal outer diameter D8. In one embodiment, the distal outerdiameter D9 measures approximately 2.4 mm. Other distal inner diametersD9 may be larger or smaller. For example, an inner diameter of 2.0 mm or2.5 mm may be suitable.

The tapered distal section 945 is configured to contact the tapereddistal section 927 of the working channel 920. The tapered distalsection 945 and the tapered distal section 927 comprise sealing featuresshaped and configured to prevent the passage of fluid between theworking channel 920 and the imaging probe 905. In the picturedembodiment, the shape and size of the tapered distal section 945 of theimaging probe 905 is configured to substantially “match” and mate withthe tapered distal section 927 of the working channel 920, therebypermitting the distal section 945 of the imaging probe 905 to bereceived snugly within the distal section 927 of the working channel 920with an outer surface 946 of the imaging probe 905 in contact with aninner surface 947 of the working channel 920. Thus, in some embodiments,the distal outer diameter D8 is slightly smaller than the distal innerdiameter D6 of the working channel 920, and the proximal outer diameterD9 is slightly smaller than the proximal inner diameter D7 of theworking channel 920.

In some embodiments, as described above with respect to the medicalinstrument system 305, the medical instrument system 900 includes atleast one interlocking feature shaped and configured to selectively mateor releasably interlock the imaging probe 905 and the medical instrument910 to enable efficient and accurate alignment of the imaging probe 905within the working channel 920 and, in some instances, to limit therotation of the imaging probe 905 within the working channel 920. FIG.16 illustrates an exemplary medical system 900′ including interlockingfeatures 950, 955 configured to selectively mate and releasablyinterlock an imaging probe 905′ and a medical instrument 910′. Themedical instrument system 900′ is substantially similar to the medicalinstrument system 900 described above with reference to FIGS. 12-15except for the addition of interlocking features 950, 955, as describedherein. As shown in FIG. 16, the interlocking features 950, 955 havecomplementary shapes and sizes configured to mate (e.g., fit togetherlike puzzle pieces) and releasably interlock the imaging probe 905′ andthe medical instrument 910′.

FIG. 17 illustrates an exemplary distal probe tip 960 of the imagingprobe 905′ including the interlocking feature 950. The imaging probe905′ may be the same as the imaging probe 905 shown in FIG. 14 exceptfor the addition of the interlocking feature 950. Thus, the distal probetip 960 has a tapered shape corresponding to the tapered shape of themedical instrument 910′. In the pictured embodiment, the interlockingfeature 950 comprises a wedge-shaped protrusion disposed on an outersurface 962 of the distal probe tip 950. The interlocking feature 950may comprise a length of metal wire, polymeric rod, glass fiber, orother suitable rigid or semi-rigid member. The interlocking feature maybe wedge-like in shape as shown in the pictured embodiment or mayinclude any of a variety of other shapes, including, without limitation,elongated flat or curved surfaces. In the pictured embodiment, theinterlocking feature 950 extends along at least a portion of the lengthof the distal probe tip 950. In other embodiments, the interlockingfeature 950 may extend along a portion of a shaft (e.g., similar to theshaft 608 shown in FIGS. 8 and 9) of the imaging probe 905′. Theinterlocking feature 950 may be integrally formed with the distal probetip 950 or may be affixed to the distal probe tip 950 with adhesiveand/or other mechanical coupling.

FIG. 18 illustrates a perspective view of the medical instrument 910′including an interlocking feature 955. The medical instrument 910′ maybe the same as the medical instrument 910 shown in FIG. 13 except forthe addition of the interlocking feature 955. FIG. 19 illustrates acutaway side view of the medical instrument system 900′ according to oneembodiment of the present disclosure. As shown best in FIGS. 16 and 19,the interlocking feature 950 is configured to mate with thecorresponding interlocking feature 955, which is disposed on an innersurface 964 of a working channel 920′ to properly align the probe 905′with the medical instrument 910′ and, in some instances, to limit thetwisting of the distal probe tip 950 relative to the medical instrument910′ (at least at the location of the interlocking feature 950). In thepictured embodiment, the interlocking feature 955 comprises anindentation within the inner surface 964 of the working channel 920′having a concave, wedge-shaped contour that is complementary to thecontour of the interlocking feature 950.

The interlocking features 950, 955 may comprise any number andarrangement of protrusion or indentations having any of a variety ofshapes or outlines such as, by way of non-limiting example, curves,waves, crescents, or polygons. In the pictured embodiment, theinterlocking features 950, 955 are disposed at distal portions of themedical instrument system 900. In other embodiments, the interlockingfeatures 950,955 may be disposed at more proximal portions of themedical instrument system 900. In some embodiments, the interlockingfeatures 950, 955 prevent or minimize liquid from pooling between theworking channel 920′ and the imaging probe 905′. The interlockingfeatures 950,955 are also configured to provide keying functionality tothe medical instrument system 900.

The devices, systems, and methods of this disclosure may be used forconnected bronchial passageways of the lung. The devices, systems, andmethods may also be suited for navigation and treatment of othertissues, via natural or surgically created connected passageways, in anyof a variety of anatomical systems including the colon, the intestines,the kidneys, the brain, the heart, the circulatory system, or the like.The methods and embodiments of this disclosure are also suitable fornon-surgical applications.

One or more elements in embodiments of the invention may be implementedin software to execute on a processor of a computer system such ascontrol processing system 600. When implemented in software, theelements of the embodiments of the invention are essentially the codesegments to perform the necessary tasks. The program or code segmentscan be stored in a processor readable storage medium or device that mayhave been downloaded by way of a computer data signal embodied in acarrier wave over a transmission medium or a communication link. Theprocessor readable storage device may include any medium that can storeinformation including an optical medium, semiconductor medium, andmagnetic medium. Processor readable storage device examples include anelectronic circuit; a semiconductor device, a semiconductor memorydevice, a read only memory (ROM), a flash memory, an erasableprogrammable read only memory (EPROM); a floppy diskette, a CD-ROM, anoptical disk, a hard disk, or other storage device, The code segmentsmay be downloaded via computer networks such as the Internet, Intranet,etc.

Note that the processes and displays presented may not inherently berelated to any particular computer or other apparatus. Variousgeneral-purpose systems may be used with programs in accordance with theteachings herein, or it may prove convenient to construct a morespecialized apparatus to perform the operations described. The requiredstructure for a variety of these systems will appear as elements in theclaims. In addition, the embodiments of the invention are not describedwith reference to any particular programming language. It will beappreciated that a variety of programming languages may be used toimplement the teachings of the invention as described herein.

While certain exemplary embodiments of the invention have been describedand shown in the accompanying drawings, it is to be understood that suchembodiments are merely illustrative of and not restrictive on the broadinvention, and that the embodiments of the invention not be limited tothe specific constructions and arrangements shown and described, sincevarious other modifications may occur to those ordinarily skilled in theart.

1-22. (canceled)
 23. A medical instrument system, comprising: an imagingprobe including a distal tip terminating at a distal end of the imagingprobe, the distal tip including a first sealing feature; an elongatedmedical instrument having a distal portion terminating at a distal endof the elongated medical instrument, wherein the elongated medicalinstrument includes a working channel, and wherein the distal portionincludes a second sealing feature; a first interlocking feature on anexternal surface of the imaging probe; and a second interlocking featureon an internal surface of the working channel, wherein the imaging probeis configured to be selectively interlocked with the elongated medicalinstrument by aligning the first interlocking feature with the secondinterlocking feature when the imaging probe is positioned within theworking channel of the elongated medical instrument, and wherein thefirst sealing feature and the second sealing feature are complementarilyshaped and are configured to contact one another to prevent passage offluid between the first and second sealing features when the distal tipof the imaging probe has been advanced within the distal portion of theelongated medical instrument.
 24. The medical instrument system of claim23, wherein one of the first or second interlocking features includes aprotrusion and the other of the first or second interlocking featuresincludes an indentation shaped to mate with the protrusion.
 25. Themedical instrument system of claim 24, wherein the protrusion has awedge shape.
 26. The medical instrument system of claim 24, wherein theprotrusion comprises at least one of a wire, a polymeric rod, or a glassfiber.
 27. The medical instrument system of claim 24, wherein theprotrusion is a hemi-cylindrical protrusion.
 28. The medical instrumentsystem of claim 23, wherein the first interlocking feature is configuredto mate with the second interlocking feature to position the imagingprobe along a central axis of the working channel.
 29. The medicalinstrument system of claim 23, wherein the first interlocking feature isconfigured to mate with the second interlocking feature to resisttwisting of the imaging probe relative to the working channel when thedistal tip of the imaging probe has been advanced within the distalportion of the elongated medical instrument.
 30. The medical instrumentsystem of claim 23, wherein the first interlocking feature or the secondinterlocking feature includes a collar of protrusions.
 31. The medicalinstrument system of claim 23, wherein the first interlocking feature orthe second interlocking feature includes a collar of indentations. 32.The medical instrument system of claim 23, wherein the firstinterlocking feature includes a circumferential repeating pattern. 33.The medical instrument system of claim 23, wherein the firstinterlocking feature is on the distal end of the imaging probe.
 34. Themedical instrument system of claim 23, wherein the first interlockingfeature is on a portion of the imaging probe proximal of the distal endof the imaging probe.
 35. The medical instrument system of claim 23,wherein the first sealing feature comprises a first interlocking sealingfeature, wherein the second sealing feature comprises a secondinterlocking sealing feature, and wherein the first interlocking sealingfeature is configured to be selectively interlocked with the secondinterlocking sealing feature.
 36. A medical instrument system,comprising: an imaging probe including a distal tip terminating at adistal end of the imaging probe, the distal tip including a firstsealing feature; an elongated medical instrument having a distal portionterminating at a distal end of the elongated medical instrument, whereinthe elongated medical instrument includes a working channel, and whereinthe distal portion includes a second sealing feature; a first pluralityof interlocking features on an external surface of the imaging probe;and a second plurality of interlocking features on an internal surfaceof the working channel, the first plurality of interlocking featuresshaped to interlock with the second plurality of interlocking featureswhen the imaging probe is positioned within the working channel of theelongated medical instrument, wherein the first sealing feature and thesecond sealing feature are complementarily shaped and are configured tocontact one another to prevent passage of fluid between the first andsecond sealing features when the distal tip of the imaging probe hasbeen advanced within the distal portion of the elongated medicalinstrument.
 37. The medical instrument system of claim 36, wherein oneof the first or second plurality of interlocking features includes aplurality of protrusions and the other of the first or second pluralityof interlocking features includes a plurality of indentations shaped tomate with the protrusions.
 38. The medical instrument system of claim36, wherein the first plurality of interlocking features is configuredto mate with the second plurality of interlocking features to positionthe imaging probe along a central axis of the working channel.
 39. Themedical instrument system of claim 36, wherein the first plurality ofinterlocking features is configured to mate with the second plurality ofinterlocking features to resist twisting of the imaging probe relativeto the working channel when the distal tip of the imaging probe has beenadvanced within the distal portion of the elongated medical instrument.40. The medical instrument system of claim 36, wherein the firstplurality of interlocking features includes a circumferential repeatingpattern.
 41. The medical instrument system of claim 36, wherein thefirst plurality of interlocking features is on the distal end of theimaging probe.
 42. The medical instrument system of claim 36, whereinthe first plurality of interlocking features is on a portion of theimaging probe proximal of the distal end of the imaging probe.